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<p><code>#include &lt;<a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html">StateEstimatorContainer.h</a>&gt;</code></p>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a4e057460c574e41ace176040d07b5a4f"><td class="memItemLeft" align="right" valign="top">EIGEN_MAKE_ALIGNED_OPERATOR_NEW&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d3b/class_state_estimator_container.html#a4e057460c574e41ace176040d07b5a4f">StateEstimatorContainer</a> (<a class="el" href="../../d2/d3e/struct_cheater_state.html">CheaterState</a>&lt; double &gt; *cheaterState, <a class="el" href="../../df/d06/struct_vector_nav_data.html">VectorNavData</a> *vectorNavData, <a class="el" href="../../d7/d6e/struct_leg_controller_data.html">LegControllerData</a>&lt; T &gt; *legControllerData, <a class="el" href="../../dd/df3/struct_state_estimate.html">StateEstimate</a>&lt; T &gt; *stateEstimate, <a class="el" href="../../d0/d73/class_robot_control_parameters.html">RobotControlParameters</a> *parameters)</td></tr>
<tr class="separator:a4e057460c574e41ace176040d07b5a4f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a04295b74cd777aa6bdf8c155c506ae2c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d3b/class_state_estimator_container.html#a04295b74cd777aa6bdf8c155c506ae2c">run</a> (<a class="el" href="../../d0/d6d/struct_cheetah_visualization.html">CheetahVisualization</a> *visualization=nullptr)</td></tr>
<tr class="separator:a04295b74cd777aa6bdf8c155c506ae2c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a30209fff8429883fd71196eb6ed5b86a"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="../../dd/df3/struct_state_estimate.html">StateEstimate</a>&lt; T &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d3b/class_state_estimator_container.html#a30209fff8429883fd71196eb6ed5b86a">getResult</a> ()</td></tr>
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<tr class="memitem:a100bfcb62c735fef211ae5564ca2e4f6"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d3b/class_state_estimator_container.html#a100bfcb62c735fef211ae5564ca2e4f6">setContactPhase</a> (<a class="el" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4</a>&lt; T &gt; &amp;phase)</td></tr>
<tr class="separator:a100bfcb62c735fef211ae5564ca2e4f6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a82af04a884b97b78cabfa79e85fd353f"><td class="memTemplParams" colspan="2">template&lt;typename EstimatorToAdd &gt; </td></tr>
<tr class="memitem:a82af04a884b97b78cabfa79e85fd353f"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="../../d1/d3b/class_state_estimator_container.html#a82af04a884b97b78cabfa79e85fd353f">addEstimator</a> ()</td></tr>
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<tr class="memitem:a89a209109286c9ddda1610735ab16878"><td class="memTemplParams" colspan="2">template&lt;typename EstimatorToRemove &gt; </td></tr>
<tr class="memitem:a89a209109286c9ddda1610735ab16878"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="../../d1/d3b/class_state_estimator_container.html#a89a209109286c9ddda1610735ab16878">removeEstimator</a> ()</td></tr>
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<tr class="memitem:ad14b9aedc91b17e460bec6f5b73e024e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d3b/class_state_estimator_container.html#ad14b9aedc91b17e460bec6f5b73e024e">removeAllEstimators</a> ()</td></tr>
<tr class="separator:ad14b9aedc91b17e460bec6f5b73e024e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aadb928bb6fcb6dcd312178d210c08dbf"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d3b/class_state_estimator_container.html#aadb928bb6fcb6dcd312178d210c08dbf">~StateEstimatorContainer</a> ()</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
Private Attributes</h2></td></tr>
<tr class="memitem:aec6540d8791bc0e9285c14bc11f7d50f"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d1/d0d/struct_state_estimator_data.html">StateEstimatorData</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d3b/class_state_estimator_container.html#aec6540d8791bc0e9285c14bc11f7d50f">_data</a></td></tr>
<tr class="separator:aec6540d8791bc0e9285c14bc11f7d50f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a07a442d363f339bed7f59fd428337e17"><td class="memItemLeft" align="right" valign="top">std::vector&lt; <a class="el" href="../../d9/d0a/class_generic_estimator.html">GenericEstimator</a>&lt; T &gt; * &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d3b/class_state_estimator_container.html#a07a442d363f339bed7f59fd428337e17">_estimators</a></td></tr>
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<tr class="memitem:a8d2cc1b3472744641cc2e88dbb67e8a5"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d3b/class_state_estimator_container.html#a8d2cc1b3472744641cc2e88dbb67e8a5">_phase</a></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template&lt;typename T&gt;<br />
class StateEstimatorContainer&lt; T &gt;</h3>

<p>Main State Estimator Class Contains all GenericEstimators </p>

<p>Definition at line <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html#l00089">89</a> of file <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html">StateEstimatorContainer.h</a>.</p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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          <td class="memname">EIGEN_MAKE_ALIGNED_OPERATOR_NEW <a class="el" href="../../d1/d3b/class_state_estimator_container.html">StateEstimatorContainer</a>&lt; T &gt;::<a class="el" href="../../d1/d3b/class_state_estimator_container.html">StateEstimatorContainer</a> </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../d2/d3e/struct_cheater_state.html">CheaterState</a>&lt; double &gt; *&#160;</td>
          <td class="paramname"><em>cheaterState</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../df/d06/struct_vector_nav_data.html">VectorNavData</a> *&#160;</td>
          <td class="paramname"><em>vectorNavData</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../d7/d6e/struct_leg_controller_data.html">LegControllerData</a>&lt; T &gt; *&#160;</td>
          <td class="paramname"><em>legControllerData</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dd/df3/struct_state_estimate.html">StateEstimate</a>&lt; T &gt; *&#160;</td>
          <td class="paramname"><em>stateEstimate</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../d0/d73/class_robot_control_parameters.html">RobotControlParameters</a> *&#160;</td>
          <td class="paramname"><em>parameters</em>&#160;</td>
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          <td>)</td>
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<p>Construct a new state estimator container </p>

<p>Definition at line <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html#l00096">96</a> of file <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html">StateEstimatorContainer.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;                                                              {</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <a class="code" href="../../d1/d3b/class_state_estimator_container.html#aec6540d8791bc0e9285c14bc11f7d50f">_data</a>.cheaterState = cheaterState;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <a class="code" href="../../d1/d3b/class_state_estimator_container.html#aec6540d8791bc0e9285c14bc11f7d50f">_data</a>.vectorNavData = vectorNavData;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <a class="code" href="../../d1/d3b/class_state_estimator_container.html#aec6540d8791bc0e9285c14bc11f7d50f">_data</a>.legControllerData = legControllerData;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <a class="code" href="../../d1/d3b/class_state_estimator_container.html#aec6540d8791bc0e9285c14bc11f7d50f">_data</a>.result = stateEstimate;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <a class="code" href="../../d1/d3b/class_state_estimator_container.html#a8d2cc1b3472744641cc2e88dbb67e8a5">_phase</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;::Zero</a>();</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    <a class="code" href="../../d1/d3b/class_state_estimator_container.html#aec6540d8791bc0e9285c14bc11f7d50f">_data</a>.contactPhase = &amp;<a class="code" href="../../d1/d3b/class_state_estimator_container.html#a8d2cc1b3472744641cc2e88dbb67e8a5">_phase</a>;</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <a class="code" href="../../d1/d3b/class_state_estimator_container.html#aec6540d8791bc0e9285c14bc11f7d50f">_data</a>.parameters = parameters;</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  }</div><div class="ttc" id="class_state_estimator_container_html_aec6540d8791bc0e9285c14bc11f7d50f"><div class="ttname"><a href="../../d1/d3b/class_state_estimator_container.html#aec6540d8791bc0e9285c14bc11f7d50f">StateEstimatorContainer::_data</a></div><div class="ttdeci">StateEstimatorData&lt; T &gt; _data</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00184">StateEstimatorContainer.h:184</a></div></div>
<div class="ttc" id="class_state_estimator_container_html_a8d2cc1b3472744641cc2e88dbb67e8a5"><div class="ttname"><a href="../../d1/d3b/class_state_estimator_container.html#a8d2cc1b3472744641cc2e88dbb67e8a5">StateEstimatorContainer::_phase</a></div><div class="ttdeci">Vec4&lt; T &gt; _phase</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00186">StateEstimatorContainer.h:186</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a738072d0d6a7a632be68f6261501826b"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 4, 1 &gt; Vec4</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00030">cppTypes.h:30</a></div></div>
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template&lt;typename T&gt; </div>
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          <td class="memname"><a class="el" href="../../d1/d3b/class_state_estimator_container.html">StateEstimatorContainer</a>&lt; T &gt;::~<a class="el" href="../../d1/d3b/class_state_estimator_container.html">StateEstimatorContainer</a> </td>
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<p>Definition at line <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html#l00177">177</a> of file <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html">StateEstimatorContainer.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;                             {</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">auto</span> estimator : <a class="code" href="../../d1/d3b/class_state_estimator_container.html#a07a442d363f339bed7f59fd428337e17">_estimators</a>) {</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      <span class="keyword">delete</span> estimator;</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    }</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  }</div><div class="ttc" id="class_state_estimator_container_html_a07a442d363f339bed7f59fd428337e17"><div class="ttname"><a href="../../d1/d3b/class_state_estimator_container.html#a07a442d363f339bed7f59fd428337e17">StateEstimatorContainer::_estimators</a></div><div class="ttdeci">std::vector&lt; GenericEstimator&lt; T &gt; * &gt; _estimators</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00185">StateEstimatorContainer.h:185</a></div></div>
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<h2 class="groupheader">Member Function Documentation</h2>
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template&lt;typename EstimatorToAdd &gt; </div>
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          <td class="memname">void <a class="el" href="../../d1/d3b/class_state_estimator_container.html">StateEstimatorContainer</a>&lt; T &gt;::addEstimator </td>
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<p>Add an estimator of the given type </p><dl class="tparams"><dt>Template Parameters</dt><dd>
  <table class="tparams">
    <tr><td class="paramname">EstimatorToAdd</td><td></td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html#l00139">139</a> of file <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html">StateEstimatorContainer.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;                      {</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <span class="keyword">auto</span>* estimator = <span class="keyword">new</span> EstimatorToAdd();</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    estimator-&gt;setData(<a class="code" href="../../d1/d3b/class_state_estimator_container.html#aec6540d8791bc0e9285c14bc11f7d50f">_data</a>);</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    estimator-&gt;setup();</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <a class="code" href="../../d1/d3b/class_state_estimator_container.html#a07a442d363f339bed7f59fd428337e17">_estimators</a>.push_back(estimator);</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  }</div><div class="ttc" id="class_state_estimator_container_html_a07a442d363f339bed7f59fd428337e17"><div class="ttname"><a href="../../d1/d3b/class_state_estimator_container.html#a07a442d363f339bed7f59fd428337e17">StateEstimatorContainer::_estimators</a></div><div class="ttdeci">std::vector&lt; GenericEstimator&lt; T &gt; * &gt; _estimators</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00185">StateEstimatorContainer.h:185</a></div></div>
<div class="ttc" id="class_state_estimator_container_html_aec6540d8791bc0e9285c14bc11f7d50f"><div class="ttname"><a href="../../d1/d3b/class_state_estimator_container.html#aec6540d8791bc0e9285c14bc11f7d50f">StateEstimatorContainer::_data</a></div><div class="ttdeci">StateEstimatorData&lt; T &gt; _data</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00184">StateEstimatorContainer.h:184</a></div></div>
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          <td class="memname">const <a class="el" href="../../dd/df3/struct_state_estimate.html">StateEstimate</a>&lt;T&gt;&amp; <a class="el" href="../../d1/d3b/class_state_estimator_container.html">StateEstimatorContainer</a>&lt; T &gt;::getResult </td>
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<p>Get the result </p>

<p>Definition at line <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html#l00127">127</a> of file <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html">StateEstimatorContainer.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;{ <span class="keywordflow">return</span> *<a class="code" href="../../d1/d3b/class_state_estimator_container.html#aec6540d8791bc0e9285c14bc11f7d50f">_data</a>.result; }</div><div class="ttc" id="class_state_estimator_container_html_aec6540d8791bc0e9285c14bc11f7d50f"><div class="ttname"><a href="../../d1/d3b/class_state_estimator_container.html#aec6540d8791bc0e9285c14bc11f7d50f">StateEstimatorContainer::_data</a></div><div class="ttdeci">StateEstimatorData&lt; T &gt; _data</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00184">StateEstimatorContainer.h:184</a></div></div>
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          <td class="memname">void <a class="el" href="../../d1/d3b/class_state_estimator_container.html">StateEstimatorContainer</a>&lt; T &gt;::removeAllEstimators </td>
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          <td class="paramname"></td><td>)</td>
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<p>Remove all estimators </p>

<p>Definition at line <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html#l00170">170</a> of file <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html">StateEstimatorContainer.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;                             {</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">auto</span> estimator : <a class="code" href="../../d1/d3b/class_state_estimator_container.html#a07a442d363f339bed7f59fd428337e17">_estimators</a>) {</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      <span class="keyword">delete</span> estimator;</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    }</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    _estimators.clear();</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  }</div><div class="ttc" id="class_state_estimator_container_html_a07a442d363f339bed7f59fd428337e17"><div class="ttname"><a href="../../d1/d3b/class_state_estimator_container.html#a07a442d363f339bed7f59fd428337e17">StateEstimatorContainer::_estimators</a></div><div class="ttdeci">std::vector&lt; GenericEstimator&lt; T &gt; * &gt; _estimators</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00185">StateEstimatorContainer.h:185</a></div></div>
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          <td class="memname">void <a class="el" href="../../d1/d3b/class_state_estimator_container.html">StateEstimatorContainer</a>&lt; T &gt;::removeEstimator </td>
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<p>Remove all estimators of a given type </p><dl class="tparams"><dt>Template Parameters</dt><dd>
  <table class="tparams">
    <tr><td class="paramname">EstimatorToRemove</td><td></td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html#l00151">151</a> of file <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html">StateEstimatorContainer.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;                         {</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    <span class="keywordtype">int</span> nRemoved = 0;</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    <a class="code" href="../../d1/d3b/class_state_estimator_container.html#a07a442d363f339bed7f59fd428337e17">_estimators</a>.erase(</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        std::remove_if(<a class="code" href="../../d1/d3b/class_state_estimator_container.html#a07a442d363f339bed7f59fd428337e17">_estimators</a>.begin(), <a class="code" href="../../d1/d3b/class_state_estimator_container.html#a07a442d363f339bed7f59fd428337e17">_estimators</a>.end(),</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;                       [&amp;nRemoved](<a class="code" href="../../d9/d0a/class_generic_estimator.html">GenericEstimator&lt;T&gt;</a>* e) {</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;                         <span class="keywordflow">if</span> (dynamic_cast&lt;EstimatorToRemove*&gt;(e)) {</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;                           <span class="keyword">delete</span> e;</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;                           nRemoved++;</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;                           <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;                         } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;                           <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;                         }</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;                       }),</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        <a class="code" href="../../d1/d3b/class_state_estimator_container.html#a07a442d363f339bed7f59fd428337e17">_estimators</a>.end());</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  }</div><div class="ttc" id="class_state_estimator_container_html_a07a442d363f339bed7f59fd428337e17"><div class="ttname"><a href="../../d1/d3b/class_state_estimator_container.html#a07a442d363f339bed7f59fd428337e17">StateEstimatorContainer::_estimators</a></div><div class="ttdeci">std::vector&lt; GenericEstimator&lt; T &gt; * &gt; _estimators</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00185">StateEstimatorContainer.h:185</a></div></div>
<div class="ttc" id="class_generic_estimator_html"><div class="ttname"><a href="../../d9/d0a/class_generic_estimator.html">GenericEstimator</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00073">StateEstimatorContainer.h:73</a></div></div>
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          <td>(</td>
          <td class="paramtype"><a class="el" href="../../d0/d6d/struct_cheetah_visualization.html">CheetahVisualization</a> *&#160;</td>
          <td class="paramname"><em>visualization</em> = <code>nullptr</code></td><td>)</td>
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<p>Run all estimators </p>

<p>Definition at line <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html#l00113">113</a> of file <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html">StateEstimatorContainer.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;                                                          {</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">auto</span> estimator : <a class="code" href="../../d1/d3b/class_state_estimator_container.html#a07a442d363f339bed7f59fd428337e17">_estimators</a>) {</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      estimator-&gt;run();</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    }</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    <span class="keywordflow">if</span> (visualization) {</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      visualization-&gt;<a class="code" href="../../d0/d6d/struct_cheetah_visualization.html#acf5668b2a729eee91349f45010ac2940">quat</a> = <a class="code" href="../../d1/d3b/class_state_estimator_container.html#aec6540d8791bc0e9285c14bc11f7d50f">_data</a>.result-&gt;orientation.template cast&lt;float&gt;();</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      visualization-&gt;<a class="code" href="../../d0/d6d/struct_cheetah_visualization.html#a0f858c48a4b04052b7f4f9346f796e3a">p</a> = <a class="code" href="../../d1/d3b/class_state_estimator_container.html#aec6540d8791bc0e9285c14bc11f7d50f">_data</a>.result-&gt;position.template cast&lt;float&gt;();</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      <span class="comment">// todo contact!</span></div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    }</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  }</div><div class="ttc" id="struct_cheetah_visualization_html_acf5668b2a729eee91349f45010ac2940"><div class="ttname"><a href="../../d0/d6d/struct_cheetah_visualization.html#acf5668b2a729eee91349f45010ac2940">CheetahVisualization::quat</a></div><div class="ttdeci">Quat&lt; float &gt; quat</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00039">VisualizationData.h:39</a></div></div>
<div class="ttc" id="class_state_estimator_container_html_a07a442d363f339bed7f59fd428337e17"><div class="ttname"><a href="../../d1/d3b/class_state_estimator_container.html#a07a442d363f339bed7f59fd428337e17">StateEstimatorContainer::_estimators</a></div><div class="ttdeci">std::vector&lt; GenericEstimator&lt; T &gt; * &gt; _estimators</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00185">StateEstimatorContainer.h:185</a></div></div>
<div class="ttc" id="struct_cheetah_visualization_html_a0f858c48a4b04052b7f4f9346f796e3a"><div class="ttname"><a href="../../d0/d6d/struct_cheetah_visualization.html#a0f858c48a4b04052b7f4f9346f796e3a">CheetahVisualization::p</a></div><div class="ttdeci">Vec3&lt; float &gt; p</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00040">VisualizationData.h:40</a></div></div>
<div class="ttc" id="class_state_estimator_container_html_aec6540d8791bc0e9285c14bc11f7d50f"><div class="ttname"><a href="../../d1/d3b/class_state_estimator_container.html#aec6540d8791bc0e9285c14bc11f7d50f">StateEstimatorContainer::_data</a></div><div class="ttdeci">StateEstimatorData&lt; T &gt; _data</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00184">StateEstimatorContainer.h:184</a></div></div>
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          <td class="paramtype"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4</a>&lt; T &gt; &amp;&#160;</td>
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<p>Set the contact phase </p>

<p>Definition at line <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html#l00132">132</a> of file <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html">StateEstimatorContainer.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;{ *<a class="code" href="../../d1/d3b/class_state_estimator_container.html#aec6540d8791bc0e9285c14bc11f7d50f">_data</a>.contactPhase = phase; }</div><div class="ttc" id="class_state_estimator_container_html_aec6540d8791bc0e9285c14bc11f7d50f"><div class="ttname"><a href="../../d1/d3b/class_state_estimator_container.html#aec6540d8791bc0e9285c14bc11f7d50f">StateEstimatorContainer::_data</a></div><div class="ttdeci">StateEstimatorData&lt; T &gt; _data</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00184">StateEstimatorContainer.h:184</a></div></div>
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<h2 class="groupheader">Member Data Documentation</h2>
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          <td class="memname"><a class="el" href="../../d1/d0d/struct_state_estimator_data.html">StateEstimatorData</a>&lt;T&gt; <a class="el" href="../../d1/d3b/class_state_estimator_container.html">StateEstimatorContainer</a>&lt; T &gt;::_data</td>
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<p>Definition at line <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html#l00184">184</a> of file <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html">StateEstimatorContainer.h</a>.</p>

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          <td class="memname">std::vector&lt;<a class="el" href="../../d9/d0a/class_generic_estimator.html">GenericEstimator</a>&lt;T&gt;*&gt; <a class="el" href="../../d1/d3b/class_state_estimator_container.html">StateEstimatorContainer</a>&lt; T &gt;::_estimators</td>
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<p>Definition at line <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html#l00185">185</a> of file <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html">StateEstimatorContainer.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html#l00186">186</a> of file <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html">StateEstimatorContainer.h</a>.</p>

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